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ID : 7260

Specifications

This section describes the COBOTTA specifications according to the following categories.

Product Name

Product name

COBOTTA

Motion

Accuracy

Position repeatability

±0.05 mm

Force

Maximum payload

  • When the end-effector faces downward (within ±10 °).

    0.7 kg

  • Other than above

    0.5 kg

Maximum allowable moment

  • 4th axis : 0.56 N·m

  • 5th axis : 0.47 N·m

  • 6th axis : 0.24 N·m

Maximum allowable inertia moment

  • 4th axis : 0.0065 kg·m2

  • 5th axis : 0.0047 kg·m2

  • 6th axis : 0.0012 kg·m2
Workable space

Workable space

See the linked page (PDF:310KB) about workable space.

Motion angle of each axis

  • 1st axis : -150 ° to 150 °
  • 2nd axis : -60 ° to 100 °
  • 3rd axis : 18 ° to 140 °
  • 4th axis : -170 ° to 170 °
  • 5th axis : -95 ° to 135 °
  • 6th axis : -170 ° to 170 °
Maximum speed at the manual operation 250 mm/s

Outer Dimensions and Mass

Overall arm length 342.5 mm
Dimension See the linked page (PDF:310KB) about dimension.
Mass About 4 kg
Total mass of mechanism part

About 2.4 kg (mechanism part means all the COBOTTA part other than base part)
Position of the center of gravity For information about position of the center of gravity in the packing posture, refer to "this page (PDF:877KB)"

Structure

Number of axis 6
Drive motor Brushless motor
Brake Brakes are equipped in 1st to 5th axis.
Degree of protection
  • COBOTTA unit : IP30
  • AC adapter and AC cable : IP20
Installation type Floor-mount
Noise

(Equivalent continuous Ａ-weighted sound pressure level)

 55 dB or less

(Measured with the rated payload and the maximum speed of the factory default setting)
Battery for keeping date/time
  • UL1642 certified product
  • Lifetime : 10 years

Environment Conditions of Installation Site

  In storage/ In transportation In operation
Ambient temperature -10 ℃ to 60 ℃ 0 ℃ to 40 ℃
Relative temperature 20 %RH to 80 %RH (no dew condensation allowed)
Vibration 29.4 m/s² (3 G) or less 4.9 m/s² (0.5 G) or less
Altitude -- 1,000 m or less
Levelness 0.5°
Flatness of the mount 0.1/500 mm
Defacement (pollution) degree 2 (*1)
Over-voltage category II (*2)

Environmental prohibition
  • there are flammable, explosive atmosphere
  • there are any acidic, alkaline or other corrosive material,
  • there are any large-sized inverters, high output/high frequency transmitters, large contactors, welders, or other sources of electrical noise.
  • it may likely be submerged in fluid or exposed to water splash,
  • there are any shavings from metal processing or other conductive material flying about,
  • there is a mist,
  • there is conductive pollution.
  • outdoor.

*1: Pollution degree 2 is equivalent to household and office environment.

*2: Overvoltage category II refers to energy consuming equipment to be supplied from fixed installation (such as outlet).

Function

Electric gripper for COBOTTA

(Option)
  • Gripping force : 20 N
  • Stroke : 30 mm
  • Mass : 0.2 kg

Electric vacuum generator

(Option)
  • Maximum vacuum pressure : -12.5 kPa
  • Mass : 0.31 kg (excluding pad holder)

AF camera

(N10-W02)

(Option)

Standard OS version

  • Pixel number : About 2.07 million pixels
  • Color : Color

  • Mass : 0.18 kg

    (Including Camera stay for COBOTTA and the COBOTTA end-effector Ethernet cable)

OSS version

Not available

Communication with an External Device (I/F)

I/O

Name

Mini I/O

I/O port numbers

Standard OS version

  • Input : 20 ports

    (8 ports for user inputs, 12 ports for system inputs)

  • Output : 20 ports

    (9 ports for user outputs, 11 ports for system outputs)
OSS version

  • Input (system input only) : 4 ports

  • Output (system output only) : 5 ports

I/O allocation

See "I/O allocation".

Voltage

  • DC24V ±10%
  • Power source is selectable between the COBOTTA internal power supply or external power supply.

Cable (Option)

Ethernet

  • For communication with COBOTTA unit × 1

    1000BASE-T/100BASE-TX/10BASE-T

  • For communication with an Ethernet device mounted on the end-effector of COBOTTA × 1

    An optional COBOTTA end-effector Ethernet cable, which is used for the communication with an Ethernet device mounted on the end-effector of COBOTTA, is required.

    For external dimensions of COBOTTA end-effector Ethernet cable, refer to "the linked page(PDF:118KB)".

    The category of wirings used for COBOTTA end-effector Ethernet cable and COBOTTA inside is Cat5e.
USB USB2.0 × 2

External display output

(Option)

  • Mini D-sub 15 pins × 1

    Connect with a conversion cable to Mini D-sub 15 pins ("VGA junction cable")

    For external dimensions of the VGA junction cable, refer to "the linked page(PDF:124KB)".

Programming

Standard OS version

Programming language

Programming with COBOTTA-original icons or with DENSO robot language (PacScript)
Memory size

  • Variable area : 1.75 Mbyte

    (Corresponding to 65,000 points)

  • File area : 400 Mbyte

    (5,000 steps × 256 files)
Teaching method
  • Direct teaching
  • Remote teaching
  • Numeric input

OSS version

Programming language

C++, Python, Java, Lisp and others.
Teaching method Teaching method is not provided by the system. Please create necessary function by customer.

Power Source

Power supply

  • Input

    Other than North America : Single phase 100VAC to 240VAC ±10%, 47 to 63Hz

    North America : Single phase 100VAC to 120VAC ±10%, 57 to 63Hz

  • Use an accompanied AC adapter.
  • When placing an order for COBOTTA, select an AC cable according to the outlet type of country where COBOTTA is used.
    (Supported countries: Japan, United State, EU, China, Korea, Taiwan, Thailand, Vietnam, Canada).
  • For about the external dimensions of AC adapter and AC cable, "see the linked page(PDF:213KB)"
Maximum input current 2.5 A
Power consumption 180 W
Weight of AC adapter 860 g
Leakage current values
  • Use at AC 90 V : 0.08 mA
  • Use at AC 264 V : 0.12 mA

Information for Safety

Inherent safety design
  • Entanglement prevention structure
  • Pinching prevention structure
Error display

Standard OS version

LED indicates the operation status (such as, Normal state, error-occurrence state, and direct teaching state) with the light color and the lighting state (flush/light-up)

For details, refer to "Status Display LED" of "Precautions while Robot is Running".

OSS version

The color and lighting interval of LED can be controlled as you like. Therefore, to use COBOTTA as an industrial robot, customers need to make the robot comply with the related standard · regulation by customers.

Safety-Related Control System

Safety function

Emergency stop function

Functions to stop COBOTTA forcibly

(The function to output the status of the emergency stop (Emergency stop box status output) is not included in the safety-related control systems.)

  • To use an accompanied emergency stop box and the system inputs.
  • For external dimensions of the emergency stop box, refer to "the linked page(PDF:242KB)".
  • Stop category 1 (see IEC 60204-1)

Protective stop function

Functions to stop COBOTTA forcibly (able to resume the operation from the suspended point)

  • To use the system inputs.
  • Stop category 1 (see IEC 60204-1)

Speed limit function

Functions to monitor the speed of COBOTTA and stop COBOTTA when it exceeds the speed limit

  • About Limit Values

    Standard OS version Limit values can be changed. (refer to the "COBOTTA Parameter Tool Guide")
    OSS version Limit values cannot be changed by customers. To change these values, contact our sales representatives.
  • Stop category 0 (see IEC 60204-1)

Torque limit function

Functions to monitor the torque of COBOTTA and stop COBOTTA when it exceeds the torque limit

  • Stop category 0 (see IEC 60204-1)

Axis limit function

Functions to monitor the axis of COBOTTA and stop COBOTTA when it exceeds the angle limit

  • Initial setting is "Disable".

  • “Enable" / "Disable", and limit values

    Standard OS version Available options are "Enable" and "Disable". The setting value can be changed. (refer to the "COBOTTA Parameter Tool Guide")
    OSS version "Enable" / "Disable", and limit values cannot be changed by customers. To change these values, contact our sales representatives.
  • Stop category 0 (see IEC 60204-1)
Safety performance For the safety performance, such as PL and MTTFd, refer to "Safety Performance of Safety-related Control System".
Stopping performance For the stopping performance, such as stop distance and stopping time, refer to "Stopping Performance of Safety-related Control System".
Structure of functions

For the structure of functions, refer to "Function Configuration of Safety-related Control System".

COBOTTA equips speed monitoring function on each axis. This function stops the robot motion when each axis exceeds the predetermined monitoring speed limit.

However, this function does not not guarantee safety for all situations. Perform a risk assessment and take additional safety measures depending on your needs.

Information on standards

Standard OS version

Applied standards
  • ISO 12100:2010
  • ISO 10218-1:2011
  • ISO/TS 15066:2016
  • ISO 13849-1:2015
  • EN 60204-1:2006+A1:2009
Applied EU Directives
  • 2006/42/EC
  • 2014/30/EU
Standards and safety functions certified by third-party certification body
  • ISO 10218-1:2011
  • ISO/TS 15066:2016
  • ISO 13849-1:2015 PLd Cat.3

  • Safety Functions

    STO (Safe torque off)

    SS1-t (Safe Stop 1 time controlled)

    SLS (Safely-limited speed)

    SLT (Safely-limited torque)

    SOC (Safe output control)

    SAL (Soft axis limiting)

For information about the certificate, refer to this(PDF:892KB).
Declaration of Incorporation For about declaration of incorporation, click "here (PDF:29KB)"

The CE mark on the COBOTTA label is applied in accordance with the following Directives.

  • EMC Directive 2014/30/EU
  • RoHS Directive 2011/65/EU, (EU)2015/863

Note that COBOTTA falls into the category of partly completed machinery in Machinery Directive 2006/42/EC. Therefore the CE mark does not correspond to the Machinery Directive.

OSS version

Applied standards
  • ISO 13849-1:2015
  • EN 60204-1:2006+A1:2009
Applied EU Directives
  • 2006/42/EC
  • 2014/30/EU
Standards and safety functions certified by third-party certification body
  • ISO 13849-1:2015 PLd Cat.3

  • Safety Functions

    STO (Safe torque off)

    SS1-t (Safe Stop 1 time controlled)

    SLS (Safely-limited speed)

    SLT (Safely-limited torque)

    SOC (Safe output control)

    SAL (Soft axis limiting)

For information about the certificate, refer to this(PDF:647KB).
Declaration of Incorporation For about declaration of incorporation, click "here (PDF:28KB)"

The CE mark on the COBOTTA label is applied in accordance with the following Directives.

  • EMC Directive 2014/30/EU
  • RoHS Directive 2011/65/EU, (EU)2015/863

Note that COBOTTA falls into the category of partly completed machinery in Machinery Directive 2006/42/EC. Therefore the CE mark does not correspond to the Machinery Directive.

Warranty Information

Warranty information See "Warranty".

Model Type

Model type Refer to "Model Type".

ID : 7260

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